Relative Pose Accuracy:
In addition to knowing the long-term inertial navigation accuracy, it is also interesting to investigate the relative pose accuracy within short time windows. In this test, the RMSE for the relative position and orientation over 10 IMU readings are computed for different algorithms, and the results are reported in Table. REF .
We note that, compared to the previous test, we also added [1]} into the competing algorithms, which is an algorithm that only seeks to regress for rotational estimates.
We also note that visual measurements are not used in Tr. and Pr. and VINS [2]} is not compared against here, due to the goal of looking into the short-term pose accuracy.
